多電機(jī)伺服控制廣泛應(yīng)用于各種電力傳動自動控制系統(tǒng)中，如配料、傳動等生產(chǎn)過程。伺服系統(tǒng)中電機(jī)控制性能和多電機(jī)間協(xié)調(diào)控制的好壞直接影響生產(chǎn)過程的質(zhì)量，如何**管理、方便應(yīng)用、實時控制是多電機(jī)伺服系統(tǒng)生產(chǎn)領(lǐng)域亟待解決的首要問題。因此，本文提出一種基于CAN總線技術(shù)的多軸運動控制數(shù)字交流伺服系統(tǒng)。
現(xiàn)場總線技術(shù)解決了傳統(tǒng)總線插板I/O模塊多，干擾嚴(yán)重、系統(tǒng)軟件編寫復(fù)雜、系統(tǒng)硬件兼容性差等問題。大大減輕了現(xiàn)場信號連接的繁瑣與費用，提高了信號傳輸?shù)木扰c靈活性，給安裝、調(diào)試和維護(hù)帶來諸多方便，為現(xiàn)場用戶帶來巨大的經(jīng)濟(jì)效益，代表著自動化領(lǐng)域發(fā)展的一個重要方向.
CAN總線技術(shù)
隨著工業(yè)現(xiàn)場控制和自動化技術(shù)的不斷進(jìn)步，傳統(tǒng)的通信模式已不能滿足現(xiàn)代工程需要。CAN（Controller Area Network）總線是80年代初德國Bosch公司為解決現(xiàn)代汽車中眾多控制與測試儀器間數(shù)據(jù)交換而開發(fā)的一種串行數(shù)據(jù)通信協(xié)議，是一種性能先進(jìn)、價格低廉、保密性好的現(xiàn)場總線（Field Bus）技術(shù)，能夠**支持分布式控制或?qū)崟r控制串行通信網(wǎng)絡(luò)[2>。CAN總線中各節(jié)點都有權(quán)利向其它節(jié)點發(fā)送信息。通信介質(zhì)可以是雙絞線、同軸電纜或光纖，主要技術(shù)特點有:
1,是一種多主總線
網(wǎng)絡(luò)上任一個節(jié)點均可在任意時刻主動向網(wǎng)絡(luò)上其它節(jié)點發(fā)送信息，多主站依據(jù)優(yōu)先機(jī)制進(jìn)行總線訪問;
2,非破壞性基于優(yōu)先權(quán)總線仲裁技術(shù)
采用非破壞性基于優(yōu)先權(quán)總線仲裁技術(shù)結(jié)構(gòu)，大大節(jié)省總線沖突仲裁時間，在重負(fù)荷下表現(xiàn)出良好性能;
3,具有多種傳送數(shù)據(jù)功能
具有點對點，一點對多點（成組）及全局廣播傳送數(shù)據(jù)功能;
4,節(jié)點數(shù)目多
直接通訊距離最遠(yuǎn)可達(dá)10km（傳輸速率為5kbps），**通訊速率可達(dá)1Mbps（傳輸距離為40m）;
5,可靠性高
數(shù)據(jù)鏈路層采用短幀結(jié)構(gòu)，實時性高，糾錯***，每幀信息都有CRC校驗及其它校驗措施，數(shù)據(jù)出錯率低，可靠性高;
6,故障自動判別
發(fā)送期間若丟失仲裁或因出錯而遭破壞的幀可自動重發(fā)，暫時錯誤和**性故障節(jié)點判別及故障節(jié)點自動脫離CAN總線。
CAN總線系統(tǒng)由CAN網(wǎng)絡(luò)節(jié)點、轉(zhuǎn)發(fā)器節(jié)點和上位機(jī)構(gòu)成�？偩�技術(shù)遵循現(xiàn)場總線協(xié)議，將分布在不同位置，用途各異的測量儀表、控制設(shè)備互聯(lián)成網(wǎng)，并可接入Intranet和Internet網(wǎng)絡(luò)�，F(xiàn)場總線技術(shù)的關(guān)鍵標(biāo)志是它能支持雙向多變量、總線式全數(shù)字通訊。傳統(tǒng)4～20mA模擬直流回路只能在一根兩芯電纜中單向傳輸一個參數(shù)，隨著系統(tǒng)結(jié)構(gòu)的日益復(fù)雜和信息量的增加，4～20mA電流環(huán)傳輸成為制約信息傳輸?shù)钠款i，所以現(xiàn)場總線替代4～20mA模擬信號標(biāo)準(zhǔn)已成為控制系統(tǒng)發(fā)展的必然趨勢。
基于CAN總線技術(shù)的多機(jī)伺服系統(tǒng)
CAN總線控制網(wǎng)絡(luò)結(jié)構(gòu)
基于CAN總線技術(shù)的多電機(jī)伺服控制系統(tǒng)網(wǎng)絡(luò)結(jié)構(gòu)如圖1所示，系統(tǒng)由上位機(jī)、CAN總線、現(xiàn)場伺服單元節(jié)點組成。數(shù)控系統(tǒng)上位機(jī)通過CAN總線控制網(wǎng)絡(luò)節(jié)點任一伺服單元，數(shù)字伺服與數(shù)控系統(tǒng)之間數(shù)據(jù)傳輸可分為實時性數(shù)據(jù)信息和非實時性數(shù)據(jù)信息兩類。實時性數(shù)據(jù)指參與控制器實時位置、速度、轉(zhuǎn)矩等控制指令和反饋信息，傳輸速度要求較高。非實時性數(shù)據(jù)主要是指控制器參數(shù)設(shè)置、功能設(shè)定、診斷功能、伺服狀態(tài)與報警等信息，傳輸速度相對較低。
CAN接口適配器是上位機(jī)與伺服單元數(shù)據(jù)傳輸和控制的橋梁，伺服單元采集現(xiàn)場的數(shù)據(jù)通過總線傳給上位機(jī)，實現(xiàn)實時監(jiān)視和控制。
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【主營產(chǎn)品】
1：Invensys Foxboro（�？怂共_）：I/A Series系統(tǒng)，F(xiàn)BM（現(xiàn)場輸入/輸出模塊）順序控制、梯形邏輯控制、事故追憶處理、數(shù)模轉(zhuǎn)換、輸入/輸出信號處理、數(shù)據(jù)通信及處理等。
2：Invensys Triconex: 冗余容錯控制系統(tǒng)、基于三重模件冗余（TMR）結(jié)構(gòu)的最現(xiàn)代化的容錯控制器。
3：Westinghouse（西屋）： OVATION系統(tǒng)、WDPF系統(tǒng)、WEStation系統(tǒng)備件。
4：Rockwell Allen-Bradley: Reliance瑞恩、SLC500/1747/1746、MicroLogix/1761/1763/1762/1766/1764、
CompactLogix/1769/1768、Logix5000/1756/1789/1794/1760/1788、PLC-5/1771/1785等。
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6：ABB：工業(yè)機(jī)器人備件DSQC系列、Bailey INFI 90等。
7：Siemens(西門子)：Siemens MOORE， Siemens Simatic C1，Siemens數(shù)控系統(tǒng)等。
8：Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列。
9：XYCOM：I/O 、VME板和處理器等。
10：GE FANUC(GE發(fā)那科)：模塊、卡件、驅(qū)動器等各類備件。
11：Yaskawa（安川）：伺服控制器、伺服馬達(dá)、伺服驅(qū)動器。
12：Bosch Rexroth（博世力士樂）：Indramat，I/O模塊,PLC控制器,驅(qū)動模塊等。
13：Woodward（伍德沃德）：SPC閥位控制器、PEAK150數(shù)字控制器。
14:工業(yè)機(jī)器人系統(tǒng)備件。
15： 英維斯(TRICONEX):TRICON DCS的系列，如：3805E
另外還有 雅馬哈(YAMAHA), 貝加萊(B&R)， 歐姆龍(OMRON), KEBA， 安川(YASKAWA) 等品牌的停產(chǎn)備件。
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NOVELL 738-114-001 ARCNET ISA ADAPTER ASSY 810-114-001 WITH WARRANTY
CONTEMPORARY CONTROLS PCX20-CXB ARCNET ISA ADAPTER 872630-00C WITH WARRANTY
ACTIVE HUB AN-808T 8-PORT - ARCNET
資訊來源：漳州鼎晟達(dá)自動化設(shè)備有限公司
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